getID.cpp
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00002 * Software License Agreement (BSD License)
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00004 *  Copyright (c) 2009, Willow Garage, Inc.
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00034 
00035 #include <urg_node/urg_c_wrapper.h>
00036 #include <vector>
00037 #include <string>
00038 
00039 #include <fcntl.h>
00040 #include <stdlib.h>
00041 #include <stdio.h>
00042 /* gcc defined unix */
00043 #ifdef unix
00044 #include <unistd.h>
00045 #endif
00046 #ifdef WIN32
00047 #include <io.h>
00048 #define pipe(X) _pipe(X, 4096, O_BINARY)
00049 #define fileno _fileno
00050 #define dup2 _dup2
00051 #define read _read
00052 #endif
00053 
00054 std::vector<std::string> &split(const std::string &s, char delim, std::vector<std::string> &elems)
00055 {
00056   std::stringstream ss(s);
00057   std::string item;
00058   while (std::getline(ss, item, delim))
00059   {
00060     elems.push_back(item);
00061   }
00062   return elems;
00063 }
00064 
00065 
00066 std::vector<std::string> split(const std::string &s, char delim)
00067 {
00068   std::vector<std::string> elems;
00069   split(s, delim, elems);
00070   return elems;
00071 }
00072 
00073 int
00074 main(int argc, char** argv)
00075 {
00076   ros::Time::init();
00077 
00078   if (argc < 2 || argc > 3)
00079   {
00080     fprintf(stderr,
00081         "usage: getID /dev/ttyACM? [quiet]\nOutputs the device ID of a hokuyo at /dev/ttyACM? or IP address"
00082         " (specified as 192.168.1.6:10940). Add a second argument for script friendly output.\n");
00083     return 1;
00084   }
00085 
00086   bool verbose = (argc == 2);
00087 
00088   int save_stdout = dup(STDOUT_FILENO);
00089 
00090   if (!verbose)  // Block urg's prints
00091   {
00092     int fds[2];
00093     int res;
00094     char buf[256];
00095     int so;
00096 
00097     res = pipe(fds);
00098     assert(res == 0);
00099 
00100     so = fileno(stdout);
00101     // close stdout handle and make the writable part of fds the new stdout.
00102     res = dup2(fds[1], so);
00103     assert(res != -1);
00104   }
00105 
00106 
00107   bool publish_intensity = false;
00108   bool publish_multiecho = false;
00109   bool synchronize_time = false;
00110   int serial_baud = 115200;
00111   int ip_port = 10940;
00112   std::string ip_address = "";
00113   std::string serial_port = "";
00114 
00115   std::vector<std::string> ip_split = split(argv[1], ':');
00116   if (ip_split.size() < 2)  // Not an IP address
00117   {
00118     serial_port = argv[1];
00119   }
00120   else if (ip_split.size() == 2)   // IP address formatted as IP:PORT
00121   {
00122     ip_address = ip_split[0];
00123     ip_port = atoi(ip_split[1].c_str());
00124   }
00125   else     // Invalid
00126   {
00127     if (verbose)
00128     {
00129       printf("getID failed due to invalid specifier.\n");
00130       return 1;
00131     }
00132   }
00133 
00134   boost::shared_ptr<urg_node::URGCWrapper> urg_;
00135 
00136   for (int retries = 10; retries; retries--)
00137   {
00138     // Set up the urgwidget
00139     try
00140     {
00141       if (ip_address != "")
00142       {
00143         urg_.reset(new urg_node::URGCWrapper(ip_address, ip_port,
00144             publish_intensity, publish_multiecho, synchronize_time));
00145       }
00146       else
00147       {
00148         urg_.reset(new urg_node::URGCWrapper(serial_baud, serial_port,
00149             publish_intensity, publish_multiecho, synchronize_time));
00150       }
00151       std::string device_id = urg_->getDeviceID();
00152       if (verbose)
00153       {
00154         if (ip_address != "")
00155         {
00156           printf("Device at %s:%i has ID ", ip_address.c_str(), ip_port);
00157         }
00158         else
00159         {
00160           printf("Device at %s has ID ", serial_port.c_str());
00161         }
00162       }
00163       // Print this in either mode
00164       fflush(NULL);  // Clear whatever we aren't printing
00165       dup2(save_stdout, STDOUT_FILENO);  // Restore std::out
00166       printf("%s\n", device_id.c_str());
00167       return 0;
00168     }
00169     catch (std::runtime_error& e)
00170     {
00171       printf("getID failed: %s\n", e.what());
00172     }
00173     ros::Duration(1.0).sleep();
00174   }
00175 
00176   if (verbose)
00177   {
00178     printf("getID failed for 10 seconds. Giving up.\n");
00179     if (ip_address != "")
00180     {
00181       printf("Device at %s:%i\n", ip_address.c_str(), ip_port);
00182     }
00183     else
00184     {
00185       printf("Device at %s\n", serial_port.c_str());
00186     }
00187   }
00188   return 1;
00189 }


urg_node
Author(s): Chad Rockey , Mike O'Driscoll
autogenerated on Sat Jun 8 2019 19:16:00